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add position error into deformable vs. rigid solve

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This commit is contained in:
Xuchen Han
2019-12-31 19:18:37 -08:00
parent 78a8ddb466
commit a274bcbfa3
10 changed files with 33 additions and 33 deletions
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10
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -17,7 +17,7 @@
#include "btDeformableMultiBodyDynamicsWorld.h"
#include <algorithm>
#include <cmath>
btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies)
btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{
btScalar residualSquare = 0;
for (int i = 0; i < numDeformableBodies; ++i)
@@ -32,25 +32,25 @@ btScalar btDeformableContactProjection::update(btCollisionObject** deformableBod
for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k)
{
btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint();
btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare);
}
for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k)
{
btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint();
btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare);
}
for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k)
{
btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint();
btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare);
}
for (int k = 0; k < m_deformableConstraints[j].size(); ++k)
{
btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint();
btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare);
}
}